Elastomer, multi-dimensional force sensor and automatic wire binding method

Abstract

The present invention is applicable to the field of sensor manufacturing technology, and provides an elastic body, a multi-dimensional force sensor and an automatic wire binding method. The elastic body includes an outer strain ring, an inner strain body and a measuring beam, wherein the inner strain body is arranged in a containing space and is spaced from the outer strain ring; the measuring beam is connected between the outer strain ring and the inner strain body, and a plurality of measuring beams are arranged. By adopting a protrusion arranged on at least one of the measuring beams, and the protrusion is higher than the end face of the outer strain ring in the thickness direction, and a patch surface is arranged on the protrusion, and the patch surface is at least located in the radial direction perpendicular to the outer strain ring. In this way, since the protrusion is higher than the end face of the outer strain ring in the thickness direction, the automatic wire binding of the strain gauge at this position can be satisfied by a wire binding machine. That is, the setting of the elastic body can automatically bind the strain gauges on all the patch wall surfaces by the wire binding machine, thereby improving the stability and efficiency of the wire binding quality.

Description

Technical Field

[0001] The invention belongs to the technical field of sensor manufacturing, and in particular relates to an elastic body, a multi-dimensional force sensor and an automatic wire binding method. Background Art

[0002] A six-dimensional force sensor is a force sensor that can detect three force components and three torque components at the same time. The resultant force and torque can be obtained according to the force components and torque components in the X, Y, and Z directions. A plurality of measuring beams are arranged inside the six-dimensional force sensor, and the cross section of the measuring beam is rectangular. Each measuring beam includes four walls: upper, lower, left, and right. The upper wall is opposite to the lower wall, and the left wall is opposite to the right wall. Usually, strain gauges are attached to the upper, lower, left, and right walls of the measuring beam.

[0003] A strain gauge is a deformation sensor that can convert the strain on the measuring beam into an electrical signal output. Its working principle is to utilize the expansion and contraction of the sheet material to change its internal resistance value to generate an induction signal. The strain gauge is provided with leads, through which the induction signal generated by the strain gauge is output. At the same time, the leads are also tied. The binding wire is the wire connecting the strain gauge and the signal conditioner. The main purpose of the binding wire is to connect the leads of the strain gauge to the measurement circuit so that the resistance change caused by the deformation of the object can be accurately measured. In addition, the binding wire can also play a role in forming a bridge circuit and ensuring a stable connection. Therefore, the reliability of the binding wire setting affects the actual performance of the product.

[0004] In the related art, in order to realize automatic wire binding and improve the wire binding efficiency and the stability of wire binding quality, a wire binding machine is used for automatic wire binding. The wire binding machine uses up and down lifting motion to perform wire binding operations, but due to the limitations of the overall structure of the existing six-dimensional force sensor, all the wall surfaces on the measuring beam that need to be patched cannot be automatically bound by the wire binding machine. Summary of the invention

[0005] In view of this, the present invention provides an elastic body, a multi-dimensional force sensor and an automatic wire binding method to solve the problem that all wall surfaces to be patched cannot be automatically wire bound by a wire binding machine.

[0006] To solve the above problems, the technical solution of the present invention is achieved as follows:

[0007] An elastomer is applied to a multi-dimensional force sensor, the elastomer comprising: an outer strain ring, the interior of which is hollow and forms a receiving space; an inner strain body, which is arranged in the receiving space and spaced apart from the outer strain ring, the inner strain body being coaxially arranged with the outer strain ring; a measuring beam, which is used for attaching a strain gauge so as to detect the strain of the measuring beam through the strain gauge, the measuring beam being connected between the outer strain ring and the inner strain body, and a plurality of measuring beams are arranged; wherein at least one of the measuring beams is provided with a protrusion, the protrusion being higher than the end face of the outer strain ring in the thickness direction; a patch surface for attaching the strain gauge is arranged on the protrusion, the patch surface being at least located in a radial direction perpendicular to the outer strain ring.

[0008] In some embodiments, the protrusions are disposed on two opposite sides of the measuring beam in the thickness direction of the outer strain ring.

[0009] In some embodiments, the end of the measuring beam connected to the outer strain ring is the first end; wherein the patch surface and the end surface of the first end are on the same vertical plane, or along the radial direction of the outer strain ring, the patch surface and the end surface of the first end are spaced apart.

[0010] In some embodiments, the measuring beams are evenly distributed along the circumferential direction.

[0011] In some embodiments, along the radial direction of the outer strain ring, the cross-sectional shape of the protrusion is "T"-shaped or "L"-shaped.

[0012] In some embodiments, among the protrusions respectively provided on the measuring beams, at least two of the protrusions have the same shape.

[0013] In some embodiments, the elastic body further includes: a fixing portion, which is arranged on the outer strain ring, and the fixing portion is provided with a mounting hole for a fastener to pass through; wherein the fixing portion is respectively arranged between two adjacent measuring beams.

[0014] A multi-dimensional force sensor is also provided in an embodiment of the present invention, comprising: the elastic body described in any of the above embodiments; a strain gauge, at least attached to the surface of the patch, and used to detect the force strain of the measuring beam; a top cover, connected to the elastic body through a connecting piece; a circuit board, arranged between the elastic body and the top cover, and the strain gauge is electrically connected to the circuit board.

[0015] In some embodiments, the multi-dimensional force sensor further includes: a sealing ring, disposed between the elastomer and the top cover; and a bottom plate, connected to the elastomer; wherein the top cover and the bottom plate are respectively connected to opposite sides of the elastomer to cover the accommodating space.

[0016] An embodiment of the present invention further provides an automatic wire binding method, which is used for binding wires of strain gauges in the multi-dimensional force sensor described in any of the above embodiments. The automatic wire binding method comprises the following steps:

[0017] 1) Select the elastic body and fix the circuit board on the elastic body. Strain gauges are respectively attached to the upper wall surface and the lower wall surface of the elastic body and the patch surface. Each of the strain gauges has a lead wire.

[0018] 2) Place the elastic body below the wire binding machine, and make the upper wall or the lower wall face upward horizontally; start the wire binding machine, the wire binding machine automatically outputs the binding wire, and electrically connects the binding wire to the lead wire, and electrically connects the binding wire to the circuit board, completing the automatic binding of the strain gauge on the current wall;

[0019] 3) Adjust the position of the elastic body so that the patch surface is horizontally facing upward; start the wire binding machine, the wire binding machine automatically outputs the binding wire, and electrically connects the binding wire to the lead wire, and electrically connects the binding wire to the circuit board, completing the automatic binding of the strain gauge on the current patch surface; wherein, step 2 and step 3 can be interchanged with each other.

[0020] An elastic body, a multi-dimensional force sensor and an automatic wire binding method provided by an embodiment of the present invention. The elastic body includes an outer strain ring, an inner strain body and a measuring beam, wherein the inner strain body is arranged in a containing space and is spaced apart from the outer strain ring; the measuring beam is connected between the outer strain ring and the inner strain body, and a plurality of measuring beams are arranged. By adopting a protrusion arranged on at least one of the measuring beams, and the protrusion is higher than the end face of the outer strain ring in the thickness direction, and at the same time, a patch surface is arranged on the protrusion, and the patch surface is at least located in the radial direction perpendicular to the outer strain ring. In this way, a strain gauge can be arranged on the patch surface of the convex portion, which can not only meet the force detection of the measuring beam in the radial direction, but also because the protrusion is higher than the end face of the outer strain ring in the thickness direction, the outer strain ring will not block the patch surface, so that the strain gauge at this position can be automatically bound by the wire binding machine. That is, the setting of the elastic body can automatically perform wire binding of the strain gauges on all patch walls through a wire binding machine, thereby improving the stability and efficiency of the wire binding quality, and further improving the product quality of the multi-dimensional force sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a schematic diagram of the first structure of the elastic body provided by an embodiment of the present invention;

[0022] Figure 2 is a schematic diagram of a second structure of an elastic body provided by an embodiment of the present invention;

[0023] Figure 3 is a schematic diagram of a third structure of an elastic body provided by an embodiment of the present invention;

[0024] Figure 4 is a schematic diagram of a fourth structure of an elastic body provided by an embodiment of the present invention;

[0025] Figure 5 It is a schematic diagram of the structure of a multi-dimensional force sensor provided by an embodiment of the present invention.

[0026] Description of reference numerals:

[0027] 1. elastic body; 11. external strain ring; 111. accommodation space; 12. internal strain body; 13. measuring beam; 14. protruding part; 141. patch surface; 15. fixing part; 151. mounting hole; 16. fastener;

[0028] 2. Multi-dimensional force sensor; 21. Strain gauge; 22. Top cover; 23. Cable; 24. Sealing ring; 25. Bottom plate. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0030] The various specific technical features described in the specific embodiments can be combined in any suitable manner without contradiction, for example, different embodiments and technical solutions can be formed by combining different specific technical features. In order to avoid unnecessary repetition, various possible combinations of the specific technical features in the present invention will not be described separately.

[0031] In the following description, the terms "first\second\..." are only used to distinguish different objects, and do not mean that the objects have the same or related points. It should be understood that the directions "above", "below", "outside" and "inside" are all directions in normal use, and the directions "left" and "right" refer to the left and right directions shown in the specific corresponding schematic diagrams, which may be the left and right directions in normal use or not.

[0032] It should be noted that the terms "comprises", "includes" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element. "Multiple" means greater than or equal to two.

[0033] like Figure 1 As shown, an elastomer 1 provided in an embodiment of the present invention is applied to a multi-dimensional force sensor. A multi-dimensional force sensor refers to a force sensor that can simultaneously measure force and torque components in more than two directions. In a Cartesian coordinate system, force and torque can each be decomposed into three components. Therefore, the most complete form of multi-dimensional force is a six-dimensional force / torque sensor, that is, a sensor that can simultaneously measure three force components (Fx, Fy, Fz) and three torque components (Mx, My, Mz). For the sake of explanation, in an embodiment of the present invention, the elastomer 1 is used in a six-dimensional force sensor for explanation, but the scope of application of the elastomer 1 is not limited.

[0034] Specifically, if Figure 1 As shown, the elastic body 1 is set in the detection environment. By transmitting the force in the detection environment to the elastic body 1, the elastic body 1 is deformed to a certain extent under the action of the external force. By detecting the degree of deformation (also called strain), the change of the current force can be known. The detection of the strain of the elastic body 1 is achieved by the strain gauge 21 set on the elastic body 1. The strain gauge 21 is usually made of a conductor or semiconductor material with a sensitive grid structure and is used to measure the strain. When the strain gauge 21 is mechanically deformed under the action of external force, its resistance value changes accordingly. This phenomenon is called "strain effect". When in use, the strain gauge 21 is pasted on the detection point of the component (such as the elastic body 1). After the component is subjected to force, the strain occurs at the detection point, and the sensitive grid is also deformed, causing its resistance to change. Then the resistance change is measured by the detection instrument and converted into the strain value of the detection point, so that the force condition of the detection point can be known.

[0035] The sensitive grid of the strain gauge 21 is a group of parallel wires arranged in a zigzag manner by a narrow conductor strip. This arrangement can accumulate small deformations in the baseline direction to form a larger cumulative value of resistance change. The specific detection principle of the strain gauge 21 is to utilize the physical and geometric properties of the conductor. When a conductor is stretched by external force within its elastic limit, it will not be broken or permanently deformed but will become narrower and longer. This deformation causes its end resistance to increase. On the contrary, when a conductor is compressed, it will become wider and shorter. This deformation causes its end resistance to decrease. By measuring the resistance of the strain gauge 21, the strain in its covered area can be calculated.

[0036] Specifically, for the detection of the strain of the elastic body 1, the accuracy of the position of the strain gauge 21 attached thereon and the reliability of the output of the detection signal of the strain gauge 21 affect the final result. The accuracy of the position of the strain gauge 21 can be controlled during manufacturing. In order to reliably output the detection signal of the strain gauge 21, it is necessary to ensure that the strain signal generated by the strain gauge 21 can be stably output. Therefore, the lead wire set on the strain gauge 21 should be reliably electrically connected to the signal processing circuit board, or when multiple strain gauges 21 are set for joint detection, the strain gauges 21 that need to be electrically connected should be reliably electrically connected to form a Wheatstone bridge. Usually, due to the limitation of the lead length or material properties, the lead wire should not be set too long, so the lead wire also needs to be electrically connected to the signal processing circuit board or other strain gauges 21 at a distance by means of a binding wire (such as silver wire or silver-plated copper wire). Specifically, the lead wire is electrically connected to the binding wire, and then the binding wire is electrically connected to the object to be conducted.

[0037] Specifically, in order to achieve the stability of wire binding quality and improve the efficiency of wire binding, automatic wire binding is performed by using a wire binding machine. That is, the strain gauge 21 is pasted on the elastomer 1, and then the elastomer 1 is placed under the wire binding machine. The wire binding machine can automatically bind the strain gauge 21 that needs to be bound according to a preset control program, thereby better achieving the stability of wire binding quality and improving the efficiency of wire binding.

[0038] When a wire binding machine with a conventional structure performs automatic wire binding, its wire binding component (chopping knife) moves up and down to bind the strain gauge 21 located below the wire binding component. In this way, the part of the elastomer 1 that needs to be bound needs to be directly opposite the wire binding component. The interior of the elastomer 1 is usually hollowed out to form a measuring beam with a structure similar to a "cross" or "M" shape. The cross-section of the measuring beam is rectangular, and strain gauges 21 need to be affixed to the four walls of the measuring beam. In this way, when the strain gauges 21 on the four walls are automatically bound by the wire binding machine, the upper and lower walls in the thickness direction can be automatically bound by swapping their positions and placing them horizontally, while the walls on the left and right sides cannot be directly opposite the wire binding component due to the obstruction of the external structure of the elastomer 1. Therefore, automatic wire binding cannot be achieved by the wire binding machine.

[0039] Based on this, Figure 1 As shown, the elastic body 1 provided in the embodiment of the present invention includes an outer strain ring 11, an inner strain body 12 and a measuring beam 13. The inner hollow of the outer strain ring 11 forms a receiving space 111; the inner strain body 12 is arranged in the receiving space 111 and is spaced apart from the outer strain ring 11, and the inner strain body 12 is arranged coaxially with the outer strain ring 11; the measuring beam 13 is connected between the outer strain ring 11 and the inner strain body 12, and a plurality of measuring beams 13 are arranged. The measuring beam 13 is used for the attachment of the supply strain gauge 21 so as to detect the strain of the measuring beam 13 through the strain gauge 21. Specifically, the shape of the outer strain ring 11 can be set to a circular or multi-deformed shape according to the design requirements or the product installation requirements, and the contour shape of the internal receiving space 111 can be set to match the contour shape of the inner strain body 12 on the premise of meeting the installation of the inner strain body 12, or it can be other shapes. The measuring beam 13 is connected between the outer strain ring 11 and the inner strain body 12, so that the outer strain ring 11 and the inner strain body 12 are connected as one through the measuring beam 13. When subjected to external force, whether the outer strain ring 11 is subjected to force, or the inner strain body 12 is subjected to force, or both are subjected to force at the same time, the measuring beam 13 can be deformed, and then the strain generated by the measuring beam 13 can be detected by the strain gauge 21 attached to the measuring beam 13.

[0040] Optionally, the cross-sectional shape of the measuring beam 13 in the vertical axial direction is a rectangle, and with the thickness direction of the elastomer 1 as a position reference, the measuring beam 13 includes four walls: upper, lower, left, and right. The upper wall and the lower wall are two opposite walls, located on two opposite surfaces in the same thickness direction as the elastomer 1; the left wall and the right wall are two opposite walls, located on two opposite surfaces perpendicular to the thickness direction of the elastomer 1. Usually, strain gauges 21 are pasted on the upper, lower, left, and right walls of the measuring beam 13. In this way, the strain gauges 21 located on the upper and lower walls can be bound by a wire binding machine, while the strain gauges 21 located on the left and right walls cannot be bound by a wire binding machine due to the obstruction of the external strain ring 11. Therefore, if Figure 1 As shown, in the embodiment of the present invention, a protrusion 14 is provided on at least one of the measuring beams 13, and the protrusion 14 is higher than the end face of the outer strain ring 11 in the thickness direction, that is, the thickness of the protrusion 14 is higher than the thickness of the outer strain ring 11, and a patch surface 141 for attaching the strain gauge 21 is provided on the protrusion 14, and the patch surface 141 is at least located in the radial direction perpendicular to the outer strain ring 11. In this way, the strain gauge 21 attached to the patch surface 141 can be at least higher than the thickness of the outer strain ring 11, so that when performing the wire binding operation, the radial direction of the outer strain ring 11 can be vertically upward by adjusting the placement position of the elastic body 1, and the patch surface 141 can be horizontally opposite to the wire binding component, and the outer strain ring 11 will not block the protrusion 14, so that the strain gauge 21 on the patch surface 141 can be automatically wire bound.

[0041] In the embodiment of the invention, a protrusion 14 is provided on the measuring beam 13, and a patch surface 141 is provided on the protrusion 14 in the radial direction perpendicular to the outer strain ring 11. In this way, the strain gauge 21 originally required to be attached to the left and right wall surfaces can be attached to the patch surface 141. Not only does it meet the detection requirements, but it can also be automatically tied by a wire binding machine, which is a clever design.

[0042] In some embodiments, Figure 1 As shown, there are multiple measuring beams 13 connected between the outer strain ring 11 and the inner strain body 12. The protrusion 14 can be provided on each measuring beam 13, or only on part of the measuring beams 13. It is only necessary to ensure that the strain gauge 21 provided on the protrusion 14 can meet the detection requirements. The protrusion 14 and the measuring beam 13 can be integrally formed, or fixedly connected by means such as gluing, clamping, or screw connection.

[0043] In some embodiments, the measuring beam 13 connected to the outer strain ring 11 and the inner strain body 12 may be formed by setting the outer strain ring 11, the inner strain body 12 and the measuring beam 13 as three independent parts, and then assembling and connecting them to form a whole. Alternatively, the outer strain ring 11, the inner strain body 12 and the measuring beam 13 may be integrally formed. Alternatively, the measuring beam 13 may be integrally formed with any one of the outer strain ring 11 and the inner strain body 12, and then assembled and connected with the other.

[0044] In some embodiments, the internal strain body 12 is coaxially arranged with the outer strain ring 11, and the lengths of the arranged measuring beams 13 are kept equal. In other embodiments, under the premise of meeting the detection requirements, the internal strain body 12 and the outer strain ring 11 may also be arranged non-coaxially, and the internal strain body 12 and the outer strain ring 11 may be partially in direct contact, and the rest of the parts may be spaced apart, and the measuring beams 13 are arranged in the spaced-apart areas therebetween.

[0045] An elastic body 1 provided by an embodiment of the present invention comprises an outer strain ring 11, an inner strain body 12 and a measuring beam 13, wherein the inner strain body 12 is arranged in a containing space 111 and is spaced apart from the outer strain ring 11; and the measuring beam 13 is connected between the outer strain ring 11 and the inner strain body 12, and a plurality of measuring beams 13 are arranged. By adopting a protrusion 14 to be arranged on at least one of the measuring beams 13, and the protrusion 14 is higher than the end face of the outer strain ring 11 in the thickness direction, and at the same time, a patch surface 141 is arranged on the protrusion 14, and the patch surface 141 is at least located in the radial direction perpendicular to the outer strain ring 11. In this way, a strain gauge 21 can be arranged on the patch surface 141 of the convex portion, which can not only meet the force detection of the measuring beam 13 in the radial direction, but also because the protrusion 14 is higher than the end face of the outer strain ring 11 in the thickness direction, the outer strain ring 11 will not block the patch surface 141, so that the strain gauge 21 at this position can be automatically bound by a wire binding machine. That is, the setting of the elastic body 1 can automatically perform wire binding of the strain gauges 21 on all patch walls through a wire binding machine, thereby improving the stability and efficiency of wire binding quality.

[0046] In some embodiments, the protrusions 14 are provided on both opposite sides of the measuring beam 13 in the thickness direction of the outer strain ring 11. That is, the protrusions 14 are provided on both the upper and lower sides of the measuring beam 13. In this way, according to the inspection requirements, the strain gauge 21 can be provided on the patch surface 141 of one of the protrusions 14, or the strain gauge 21 can be provided on the patch surface 141 of each protrusion 14, so as to meet different design requirements.

[0047] In some embodiments, Figure 2As shown in FIG. 1 , the end of the measuring beam 13 connected to the outer strain ring 11 is the first end; wherein the patch surface 141 and the end surface of the first end are on the same vertical plane. That is, along the length direction of the measuring beam 13, the protrusion 14 is at least located on the first end, and the patch surface 141 on the protrusion 14 is kept flush with the end surface of the first end. Or, as Figure 3 As shown, along the radial direction of the outer strain ring 11, the patch surface 141 is spaced apart from the end surface of the first end. That is, the patch surface 141 on the protrusion 14 is not flush with the end surface of the first end, but is spaced apart by a certain distance. In this way, the thickness of the measuring beam 13 can be reduced, and it is easier to deform after being stressed, which plays a role in improving the detection sensitivity. There are many ways to set the protrusion 14 on the measuring beam 13, as long as the patch surface 141 is set to meet the arrangement of the strain gauge 21 and the wire binding machine can automatically bind the wire.

[0048] In some embodiments, the number of measuring beams 13 connected between the outer strain ring 11 and the inner strain body 12 may be three, four, or more, and the measuring beams 13 may be evenly distributed along the circumferential direction, thereby realizing multi-position detection in the circumferential direction and improving the detection sensitivity.

[0049] In some embodiments, Figure 3 As shown, the measuring beam 13 is not higher than the end face of the outer strain ring 11 in the thickness direction. That is, the thickness of the measuring beam 13 is the same as that of the outer strain ring 11, and the protrusion 14 is provided on the measuring beam 13, so that it can be higher than the outer strain ring 11. Alternatively, the thickness of the measuring beam 13 is less than the thickness of the outer strain ring 11, and the protrusion 14 is provided on the measuring beam 13, and the thickness of the provided protrusion 14 needs to be maintained to be higher than the outer strain ring 11, so as to meet the requirement of being able to attach the strain gauge 21 on the patch surface 141 of the protrusion 14. Moreover, under this arrangement, the measuring beam 13 has a smaller thickness dimension, is more likely to be deformed, and is conducive to improving the sensitivity of detection.

[0050] In some embodiments, along the radial direction of the outer strain ring 11, the cross-sectional shape of the protrusion 14 is "T"-shaped or "L"-shaped. Figure 1 As shown, the protrusion 14 is arranged on the first end of the measuring beam 13 and extends in a direction perpendicular to the axial direction of the measuring beam 13. The two ends may extend to the same length, so that the cross section of the protrusion 14 formed in the radial direction parallel to the outer strain ring 11 is similar to a "T" shape. Alternatively, the two ends may extend to different lengths, but the overall shape is similar to a "T" shape. Alternatively, Figure 4As shown, only one end of the protrusion 14 may extend in a direction perpendicular to the axial direction of the measuring beam 13, so that the shape of the protrusion 14 formed is similar to an "L" shape in the cross section along the radial direction parallel to the outer strain ring 11. Of course, it can be understood that the protrusion 14 can also be set to other shapes, as long as the patch surface 141 provided can be used for the placement of the strain gauge 21 and can be used for automatic wire binding by the wire binding machine.

[0051] In some embodiments, among the protrusions 14 respectively provided on each measuring beam 13, at least two protrusions 14 have the same shape. Specifically, there are multiple measuring beams 13, and the shape of the protrusions 14 can be set in a variety of ways. When each measuring beam 13 is provided with a protrusion 14, at least two of the protrusions 14 provided on each measuring beam 13 can have the same shape. That is, the shapes of the protrusions 14 can be kept the same, or the shapes of the protrusions 14 can be partially the same. It only needs to be able to detect the strain of the measuring beam 13, and to meet the requirements of the installation of the strain gauge 21 and automatic wire binding.

[0052] In some embodiments, Figure 1 As shown, the elastic body 1 also includes a fixing portion 15. The fixing portion 15 is arranged on the outer strain ring 11, and a fastener 16 is provided on the fixing portion 15 (refer to Figure 5 ) through a mounting hole 151. Moreover, a fixing portion 15 is provided between two adjacent measuring beams 13. In this way, by providing a fixing portion 15 and opening a mounting hole 151, one end of a screw-like fastener 16 is passed through the mounting hole 151 and then threadedly connected with the mounting object, so that the installation and fixation of the elastomer 1 can be achieved. Moreover, by providing a fixing portion 15 between two adjacent measuring beams 13, the installation and fixation can be performed in all directions, which not only improves the stability of the installation and fixation, but also enables the elastomer 1 to sensitively detect the force changes of the mounted object, thereby achieving sensitive detection.

[0053] like Figure 5As shown, a multi-dimensional force sensor 2 is also provided in the embodiment of the present invention. The multi-dimensional force sensor 2 refers to a force sensor that can simultaneously measure force and torque components in more than two directions. For example, in a Cartesian coordinate system, force and torque can be decomposed into three components respectively. If the detection of three components of force and torque can be achieved, it can be called a six-dimensional force / torque sensor. The multi-dimensional force sensor 2 includes the elastic body 1 in any of the above embodiments, and includes a strain gauge 21, a top cover 22 and a circuit board (not shown in the figure). The strain gauge 21 is at least attached to the patch surface 141, and the strain gauge 21 is at least used to detect the force strain of the measuring beam 13; the top cover 22 is connected to the elastic body 1 through a connector 20, the circuit board is arranged between the elastic body 1 and the top cover 22, and the strain gauge 21 is electrically connected to the circuit board. Specifically, the top cover 22 is fixedly connected to the elastic body 1 through a bolt or screw-like connector 20, thereby forming a cavity between the two. The circuit board is arranged in the cavity, and can be fixed on the elastic body 1, or fixed on the top cover 22, or connected to the elastic body 1 and the top cover 22 at the same time. The strain gauge 21 is electrically connected to the circuit board, so that the strain signal generated by the strain gauge 21 can be transmitted to the circuit board, and can be converted into usable strain data after being processed by the electrical components arranged on the circuit board. The circuit board is connected to an external measuring instrument through a cable 23, so that the strain data converted by the circuit board can be transmitted to the measuring instrument, thereby realizing the corresponding strain detection.

[0054] Specifically, the elastic body 1 is fixed to the installation object by the fastener 16, and the top cover 22 is fixedly connected to the elastic body 1 by the connecting member 20. In this way, the elastic body 1 can directly receive the force exerted on the installation object, and can also transmit the force exerted on it through the top cover 22 and / or the connecting member 20, so as to realize detection in multiple directions with high detection sensitivity.

[0055] In some embodiments, Figure 5 As shown, the multi-dimensional force sensor 2 also includes a sealing ring 24 and a bottom plate 25. The sealing ring 24 is disposed between the elastomer 1 and the top cover 22, and the gap between the elastomer 1 and the top cover 22 is sealed by the sealing ring 24, so as to at least play a role of dustproof and waterproof. The bottom plate 25 is connected to the elastomer 1, and the top cover 22 and the bottom plate 25 are respectively connected to the opposite sides of the elastomer 1, so as to cover the accommodating space 111. In this way, the accommodating space 111 is sealed by the top cover 22 and the bottom plate 25, and then the assembled multi-dimensional force sensor 2 as a whole becomes a sealed product, thereby improving the reliability of the product.

[0056] The multi-dimensional force sensor 2 provided in the embodiment of the present invention adopts the elastic member described in any of the above embodiments, so that the position where the strain gauge 21 is attached to the measuring beam 13 can be automatically wired by a wire binding machine. In this way, the wire binding quality of each strain gauge 21 can be kept stable, and the efficiency of wire binding of the strain gauge 21 can also be improved, thereby improving the production efficiency and product quality of the multi-dimensional force sensor 2 using the elastic body 1.

[0057] An embodiment of the present invention also provides an automatic wire binding method for binding wires of strain gauges in a multi-dimensional force sensor in any of the above embodiments. The automatic wire binding method comprises the following steps:

[0058] 1) Select an elastic body and fix the circuit board on the elastic body. Strain gauges are respectively attached to the upper and lower walls of the elastic body and the patch surface, and each strain gauge has a lead wire;

[0059] 2) Place the elastic body under the wire binding machine, and make the upper or lower wall face upward horizontally; start the wire binding machine, which automatically outputs the wire binding, and electrically connects the wire binding to the lead wire, and electrically connects the wire binding to the circuit board, completing the automatic wire binding of the strain gauge on the current wall. When binding the strain gauges on the upper or lower wall of other measuring beams, adjust each measuring beam accordingly so that the upper or lower wall of the current measuring beam faces upward horizontally. In this way, the wire binding of the strain gauges on the upper or lower wall of all measuring beams is completed.

[0060] 3) Adjust the position of the elastic body so that the patch surface is horizontally facing upwards; start the wire binding machine, which automatically outputs the wire binding, and electrically connects the wire binding to the lead wire, and electrically connects the wire binding to the circuit board, thus completing the automatic wire binding of the strain gauge on the current patch surface. When binding the strain gauge on the patch surface of another measuring beam, adjust the position of the elastic body so that the current patch surface is horizontally facing upwards. In this way, the wire binding of the strain gauges on the patch surface of all protruding parts is completed.

[0061] Moreover, during the actual wire binding operation, step 2 and step 3 can be interchanged. That is, the strain gauges located on the upper wall or the lower wall can be wire bound first, and then the strain gauges located on the patch surface can be wire bound, or the strain gauges located on the patch surface can be wire bound first, and then the strain gauges located on the upper wall or the lower wall can be wire bound. The wire binding operation sequence is not limited, and the automatic wire binding of the strain gauges on each measuring beam can be achieved.

[0062] The automatic wire binding method provided in the embodiment of the present invention can be used to automatically bind the strain gauges attached to each measuring beam by a wire binding machine. The wire binding operation steps are simple, and the stability of the wire binding quality of each strain gauge can be ensured, while also improving the overall wire binding efficiency.

[0063] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An elastic body, applied to a multi-dimensional force sensor, characterized in that: The elastomer comprises: The outer strain ring is hollow inside to form a receiving space; An internal strain body, arranged in the accommodation space and spaced apart from the external strain ring, the internal strain body being coaxially arranged with the external strain ring; A measuring beam, used for attaching a strain gauge to the measuring beam, so as to detect the strain of the measuring beam through the strain gauge, wherein the measuring beam is connected between the outer strain ring and the inner strain body, and a plurality of measuring beams are provided; Among them, at least one of the measuring beams is provided with a protrusion, and the protrusion is higher than the end face of the outer strain ring in the thickness direction; the protrusion is provided with a patch surface for attaching a strain gauge, and the patch surface is at least located in a radial direction perpendicular to the outer strain ring.

2. The elastic body according to claim 1, characterized in that The protrusions are arranged on two opposite sides of the measuring beam in the thickness direction of the outer strain ring.

3. The elastic body according to claim 1, characterized in that The end of the measuring beam connected to the outer strain ring is the first end; wherein the patch surface and the end surface of the first end are on the same vertical plane, or along the radial direction of the outer strain ring, the patch surface and the end surface of the first end are spaced apart.

4. The elastic body according to claim 1, characterized in that The measuring beams are evenly distributed along the circumferential direction.

5. The elastic body according to claim 1, characterized in that Along the radial direction of the outer strain ring, the cross-sectional shape of the protrusion is "T"-shaped or "L"-shaped.

6. The elastic body according to claim 5, characterized in that Among the protrusions respectively arranged on the measuring beams, at least two of the protrusions have the same shape.

7. The elastic body according to claim 1, characterized in that The elastic body also includes: A fixing part is arranged on the outer strain ring, and a mounting hole for a fastener to pass through is opened on the fixing part; Wherein, the fixing parts are respectively arranged between two adjacent measuring beams.

8. A multi-dimensional force sensor, characterized in that: include: The elastomer according to any one of claims 1 to 7; A strain gauge, at least attached to the patch surface, and used to detect the stress strain of the measuring beam; A top cover connected to the elastic body through a connecting piece; A circuit board is arranged between the elastic body and the top cover, and the strain gauge is electrically connected to the circuit board.

9. The multi-dimensional force sensor according to claim 8, characterized in that: The multi-dimensional force sensor also includes: A sealing ring, arranged between the elastic body and the top cover; A bottom plate connected to the elastic body; Wherein, the top cover and the bottom plate are respectively connected to opposite sides of the elastic body to cover the accommodating space.

10. An automatic wire binding method for binding wires of strain gauges in a multi-dimensional force sensor as claimed in any one of claims 8 to 9, characterized in that: The automatic wire binding method comprises the following steps: 1) Select the elastic body and fix the circuit board on the elastic body. Strain gauges are respectively attached to the upper wall surface and the lower wall surface of the elastic body and the patch surface. Each of the strain gauges has a lead wire. 2) Place the elastic body below the wire binding machine, and make the upper wall or the lower wall face upward horizontally; start the wire binding machine, the wire binding machine automatically outputs the binding wire, and electrically connects the binding wire to the lead wire, and electrically connects the binding wire to the circuit board, completing the automatic binding of the strain gauge on the current wall; 3) Adjust the position of the elastic body so that the patch surface is horizontally facing upward; start the wire binding machine, the wire binding machine automatically outputs the binding wire, and electrically connects the binding wire to the lead wire, and electrically connects the binding wire to the circuit board, completing the automatic binding of the strain gauge on the current patch surface; Wherein, step 2 and step 3 can be interchanged.

Images